Research

Publications

The following is a list of publications produced by HSI related faculty and students.
The link for each paper leads you to the citation, keyword, and abstract. For copies of the full
papers, please use standard methods for obtaining academic publications, such as online library searches.

What Can I Control? A Framework for Robot Self-Discovery

Abstract: In this paper we present a developmental progression for a humanoid robot that uses mutual information to discover controllable perceptual categories. Previously we have shown that the robot can discover a visual category that corresponds with its hand from less than 5 minutes of interaction with a human. Here, we show how this discovery can be used to adapt the robot's perceptual and motor systems such that the robot can subsequently discover its fingers. In this way, a robot can expand its control over the world so that newly mastered actions can open up new realms of influence, and new realms of influence can lead to the mastery of new actions.

Citation: Aaron Edsinger and Charles C. Kemp. What Can I Control? A Framework for Robot Self-Discovery. Proceedings of the Sixth International Conference on Epigenetic Robotics (EpiRob 2006), Paris, France, September, 2006.